 3 files changed, 278 insertions(+), 154 deletions(-)
/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
  from pkg_resources import resource_stream, resource_exists
objc[8239]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f152c8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106c890). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15318) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106c8e0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15390) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106c958). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f153b8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106c980). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15408) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106c9d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15458) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106ca20). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f154d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106ca98). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15520) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cae8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15570) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cb38). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f155c0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cb88). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f155e8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cbb0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15610) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cbd8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15688) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cc50). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15700) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106ccc8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15750) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cd18). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15778) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cd40). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[8239]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f157c8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cd90). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
[記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261103_080648
[実機] daemon に送ります。起動したときの姿勢: -0.26 +1.14 +1.40 +0.00 +0.17 -29.70
コントローラーを待っています（つないでいなければ、今つないでください）
[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[送信] j0 -1.0° → -1.26 +1.14 +1.40 +0.00 +0.17 -29.70  届いた（ずれ 1.0°）  届いた角度 -0.26 +1.14 +1.40 +0.00 +0.17 -29.70
[長押し] j0 を -0.96° → -19.86° まで（13 回送信。離したあと最大 3° 先まで動いて止まります）
[送信] j0 +1.0° → -24.50 +1.14 +1.40 +0.00 +0.17 -29.70  届いた（ずれ 1.33°）  届いた角度 -25.83 +1.93 +2.10 -0.26 +0.17 -29.97
[長押し] j0 を -24.52° → +5.44° まで（14 回送信。離したあと最大 3° 先まで動いて止まります）
[送信] j1 -1.0° → +9.06 +0.14 +1.40 +0.00 +0.17 -29.70  届いた（ずれ 1.79°）  届いた角度 +8.78 +1.93 +2.10 -0.43 +0.17 -29.88
[長押し] j1 を +1.66° → -0.35° まで（2 回送信。離したあと最大 3° 先まで動いて止まります）
[送信] j1 +1.0° → +9.06 -3.23 +1.40 +0.00 +0.17 -29.70  届いた（ずれ 0.7°）  届いた角度 +8.78 -2.98 +2.10 -0.43 +0.52 -29.88
[長押し] j1 を -2.54° → +25.40° まで（16 回送信。離したあと最大 3° 先まで動いて止まります）
[送信] j1 -1.0° → +9.06 +27.40 +1.40 +0.00 +0.17 -29.70  届いた（ずれ 2.13°）  届いた角度 +8.78 +29.53 +2.10 -0.43 +0.52 -29.88
[長押し] j1 を +29.53° → +14.58° まで（15 回送信。離したあと最大 3° 先まで動いて止まります）
[送信] j0 -2.0° → +7.06 +11.58 +1.40 +0.00 +0.17 -29.70  届いた（ずれ 1.6°）  届いた角度 +7.47 +13.18 +2.10 -0.43 +0.52 -29.88
[長押し] j0 を +7.03° → +0.79° まで（4 回送信。離したあと最大 3° 先まで動いて止まります）
[送信] j0 -1.0° → -3.21 +11.58 +1.40 +0.00 +0.17 -29.70  届いた（ずれ 1.6°）  届いた角度 -1.75 +13.18 +2.10 -0.35 +0.52 -29.88
[長押し] j0 を -3.07° → -15.11° まで（8 回送信。離したあと最大 3° 先まで動いて止まります）
[送信] j0 +1.0° → -17.11 +11.58 +1.40 +0.00 +0.17 -29.70  届いた（ずれ 1.6°）  届いた角度 -17.75 +13.18 +2.10 -0.26 +0.52 -29.88
[長押し] j0 を -16.69° → +14.58° まで（17 回送信。離したあと最大 3° 先まで動いて止まります）
[関節] 上下で動かす関節を j2 にしました
[関節] 上下で動かす関節を j3 にしました
[送信] j3 -2.0° → +20.31 +11.58 +1.40 -2.00 +0.17 -29.70  届いた（ずれ 1.6°）  届いた角度 +20.56 +13.18 +2.10 -0.79 +0.52 -29.88
[長押し] j3 を -0.79° → -12.48° まで（8 回送信。離したあと最大 3° 先まで動いて止まります）
[送信] j3 +1.0° → +20.31 +11.58 +1.40 -14.48 +0.17 -29.70  届いた（ずれ 1.6°）  届いた角度 +20.56 +13.18 +2.10 -14.50 +0.52 -29.88
[長押し] j3 を -14.50° → -7.47° まで（6 回送信。離したあと最大 3° 先まで動いて止まります）
[送信] j3 +2.0° → +20.31 +11.58 +1.40 -2.47 +0.17 -29.70  届いた（ずれ 1.6°）  届いた角度 +20.56 +13.18 +2.10 -2.90 +0.52 -29.88
[関節] 上下で動かす関節を j4 にしました
[送信] j4 -2.0° → +20.31 +11.58 +1.40 +0.10 -1.83 -29.70  届いた（ずれ 1.6°）  届いた角度 +20.56 +13.18 +2.10 -0.17 -2.28 -29.88
[長押し] j4 を -2.28° → -14.32° まで（8 回送信。離したあと最大 3° 先まで動いて止まります）
[送信] j4 +2.0° → +20.31 +11.58 +1.40 +0.10 -17.69 -29.70  届いた（ずれ 2.52°）  届いた角度 +20.47 +13.18 +2.10 -0.08 -20.21 -29.79
[長押し] j4 を -19.59° → +11.51° まで（25 回送信。離したあと最大 3° 先まで動いて止まります）
[送信] j4 -1.0° → +20.31 +11.58 +1.40 +0.10 +15.53 -29.70  届いた（ずれ 1.6°）  届いた角度 +20.39 +13.18 +2.10 +0.08 +15.55 -29.79
[長押し] j4 を +15.55° → +3.60° まで（8 回送信。離したあと最大 3° 先まで動いて止まります）
[送信] j0 -1.0° → +19.31 +11.58 +1.40 +0.10 +0.60 -29.70  届いた（ずれ 1.6°）  届いた角度 +20.39 +13.18 +2.10 +0.17 +1.23 -29.79
[長押し] j0 を +19.51° → -21.79° まで（22 回送信。離したあと最大 3° 先まで動いて止まります）
[送信] j0 +1.0° → -26.60 +11.58 +1.40 +0.10 +0.60 -29.70  届いた（ずれ 1.6°）  届いた角度 -28.03 +13.18 +2.10 +0.43 +1.23 -29.79
[長押し] j0 を -26.80° → +3.16° まで（19 回送信。離したあと最大 3° 先まで動いて止まります）
[送信] HOME → +0.00 +0.00 +0.00 +0.00 +0.00 -30.00  届いた（ずれ 2.1°）  届いた角度 -0.35 +1.49 +2.10 +0.43 -0.52 -29.79
^C
[終了] Ctrl+C
[終了] アームは動かしていません。記録: /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261103_080648
